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Tracker: restore scan mode functionality

This commit is contained in:
IamPete1 2019-03-10 10:49:28 +00:00 committed by Peter Barker
parent 176d26b40a
commit 59526efa02
3 changed files with 9 additions and 8 deletions
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9
AntennaTracker/control_auto.cpp
View File

@ -10,11 +10,6 @@
*/ */
void Tracker::update_auto(void) void Tracker::update_auto(void)
{ {
// exit immediately if we do not have a valid vehicle position
if (!vehicle.location_valid) {
return;
}
float yaw = wrap_180_cd((nav_status.bearing+g.yaw_trim)*100); // target yaw in centidegrees float yaw = wrap_180_cd((nav_status.bearing+g.yaw_trim)*100); // target yaw in centidegrees
float pitch = constrain_float(nav_status.pitch+g.pitch_trim, g.pitch_min, g.pitch_max) * 100; // target pitch in centidegrees float pitch = constrain_float(nav_status.pitch+g.pitch_trim, g.pitch_min, g.pitch_max) * 100; // target pitch in centidegrees
@ -26,8 +21,8 @@ void Tracker::update_auto(void)
float bf_yaw; float bf_yaw;
convert_ef_to_bf(pitch, yaw, bf_pitch, bf_yaw); convert_ef_to_bf(pitch, yaw, bf_pitch, bf_yaw);
// only move servos if target is at least distance_min away // only move servos if target is at least distance_min away if we have a target
if ((g.distance_min <= 0) || (nav_status.distance >= g.distance_min)) { if ((g.distance_min <= 0) || (nav_status.distance >= g.distance_min) || !vehicle.location_valid) {
update_pitch_servo(bf_pitch); update_pitch_servo(bf_pitch);
update_yaw_servo(bf_yaw); update_yaw_servo(bf_yaw);
} }

2
AntennaTracker/system.cpp
View File

@ -231,6 +231,8 @@ void Tracker::set_mode(enum ControlMode mode, mode_reason_t reason)
// log mode change // log mode change
logger.Write_Mode(control_mode, reason); logger.Write_Mode(control_mode, reason);
nav_status.bearing = ahrs.yaw_sensor * 0.01f;
} }
/* /*

4
AntennaTracker/tracking.cpp
View File

@ -110,7 +110,11 @@ void Tracker::update_tracking(void)
switch (control_mode) { switch (control_mode) {
case AUTO: case AUTO:
if (vehicle.location_valid) {
update_auto(); update_auto();
} else if (tracker.target_set) {
update_scan();
}
break; break;
case MANUAL: case MANUAL: